Processing method and device for operation data of mining equipment

Abstract

The invention discloses a method and a device for processing operation data of mining equipment. The method is applied to mining equipment and comprises the following steps: receiving positioning information broadcasted by loading equipment according to a fixed frequency; based on the positioning information, loading equipment in a target loading area is determined, and the target loading area is an operation area which can be covered by the mining equipment; determining to-be-loaded target loading equipment based on the positioning information, and adding equipment information of the target loading equipment into a to-be-loaded equipment list; and in the process that the target loading equipment completes loading and drives away from the loading area, the equipment information of the target loading equipment is removed from the to-be-loaded equipment list according to the positioning information of the target loading equipment. The technical problem that the operation data of the mining equipment cannot be accurately recorded in the prior art is solved.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving technology, and in particular to a method and device for processing operation data of mining equipment. Background Art

[0002] At present, in open-pit mine transportation operations, the collaborative operation between mining equipment (excavators) and loading equipment (mine trucks) is the key to achieving efficient material transportation. The traditional mining equipment's operating performance record mainly relies on manual work, and the workload is evaluated by the excavator driver manually counting the number of loading times. However, with the widespread application of autonomous driving technology in mine transportation, the interaction between mining equipment and loading equipment has changed significantly. The mining equipment and loading equipment communicate data through the vehicle-to-everything (V2X) technology to achieve the coordination and management of loading operations. In this process, the loading equipment uses V2X technology to continuously broadcast basic data such as vehicle positioning and orientation, and the mining equipment receives and parses this data to perceive the status of surrounding mine trucks and guide loading operations.

[0003] However, the operating environment of open-pit mines is complex and changeable, with factors such as undulating terrain, dynamic obstacles, and uneven deployment of mobile network base stations, which affect the reliability of V2X communication. Especially in scenarios where there is a height difference between the excavator and the mining truck and equipment obstruction, the stability of V2X communication is difficult to guarantee, which directly affects the reliability of loading collaborative communication and the accuracy of loading number records. Therefore, there is a technical problem that the operating data of mining equipment cannot be accurately recorded.

[0004] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0005] The embodiment of the present invention provides a method and device for processing operation data of mining equipment, so as to at least solve the technical problem in the related art that the operation data of mining equipment cannot be accurately recorded.

[0006] According to one aspect of an embodiment of the present invention, a method for processing operation data of mining equipment is provided. The method includes: receiving positioning information broadcast by a loading device at a fixed frequency; based on the positioning information, determining the loading device in the target loading area, wherein the target loading area is the operation area that the mining equipment can cover; based on the positioning information, determining the target loading device to be loaded, and adding the equipment information of the target loading device to the list of equipment to be loaded; when the target loading device completes loading and leaves the loading area, removing the equipment information of the target loading device from the list of equipment to be loaded according to the positioning information of the target loading device.

[0007] Optionally, based on the positioning information, a target loading device to be loaded is determined, including: based on the positioning information, determining the position information and orientation information of the loading device; in response to the position information indicating that the loading device is within the target loading area, and the orientation information indicating that the loading device is facing the loading direction of the mining equipment, determining the loading device as the target loading device to be loaded.

[0008] Optionally, after adding the equipment information of the target loading equipment to the list of equipment to be loaded, the method also includes: determining the waiting-for-loading probability corresponding to the loading equipment in the list of equipment to be loaded based on the positioning information of the loading equipment in the list of equipment to be loaded and the stop time of the loading equipment in the list of equipment to be loaded in the target loading area; and determining the loading order of the loading equipment in the list of equipment to be loaded based on the waiting-for-loading probability corresponding to the loading equipment in the list of equipment to be loaded.

[0009] Optionally, based on the waiting-for-loading probabilities corresponding to the loading devices in the list of equipment to be loaded, the loading order of the loading devices in the list of equipment to be loaded is determined, including: sorting the waiting-for-loading probabilities corresponding to the loading devices in order from large to small to obtain a loading sequence; and loading the loading devices in the list of equipment to be loaded according to the loading sequence.

[0010] Optionally, the method for processing the operation data of the mining equipment also includes: in response to a change in the positioning information of the loading equipment in the list of equipment to be loaded, adjusting the probability of loading equipment whose positioning information has changed; and updating the loading sequence based on the corresponding probability of loading equipment after the adjustment.

[0011] Optionally, during the process of the target loading equipment completing loading and leaving the loading area, the equipment information of the target loading equipment is removed from the list of equipment to be loaded according to the positioning information of the target loading equipment, including: during the process of the target loading equipment completing loading and leaving the target loading area, determining the departure trajectory of the target loading equipment based on the positioning information of the target loading equipment; based on the departure trajectory, determining that the target loading equipment is indeed loaded by the mining equipment, and removing the equipment information of the target loading equipment from the list of equipment to be loaded.

[0012] Optionally, based on the departure trajectory, determining that the target loading equipment is indeed loaded by the mining equipment includes: determining the departure position and departure direction of the target loading equipment based on the departure trajectory of the target loading equipment; in response to the departure position being within the target loading area and the departure direction pointing in the loading direction away from the mining equipment, determining that the target loading equipment is indeed loaded by the mining equipment.

[0013] Optionally, the method for processing the operation data of the mining equipment further includes: generating the loading data of the target loading equipment in response to a triggering operation for generating the loading data of the target loading equipment; and adding the loading data to the operation data of the mining equipment.

[0014] Optionally, the method for processing the operation data of the mining equipment further includes: sending the operation data of the mining equipment to a cloud platform, wherein the operation data is used to enable the cloud platform to generate a workload report of the mining equipment.

[0015] According to another aspect of an embodiment of the present invention, there is also provided a device for processing operating data of a mining device, which is applied to the mining device, and the device includes: a receiving unit, for receiving positioning information broadcast by a loading device at a fixed frequency; a first determining unit, for determining the loading device in a target loading area based on the positioning information, wherein the target loading area is an operating area that can be covered by the mining equipment; a second determining unit, for determining the target loading device to be loaded based on the positioning information, and adding the equipment information of the target loading device to a list of equipment to be loaded; and a removing unit, for removing the equipment information of the target loading device from the list of equipment to be loaded according to the positioning information of the target loading device when the target loading device completes loading and leaves the loading area.

[0016] According to another aspect of an embodiment of the present invention, there is further provided an electronic device, comprising: a memory storing an executable program; and a processor for running the program, wherein the method in each embodiment of the present invention is executed when the program is running.

[0017] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is provided. The computer-readable storage medium includes a stored executable program, wherein when the executable program is running, the device where the computer-readable storage medium is located is controlled to execute the methods in various embodiments of the present invention.

[0018] According to another aspect of an embodiment of the present invention, a computer program product is provided, including a computer program. When the computer program is executed by a processor, the method in each embodiment of the present invention is implemented.

[0019] According to another aspect of an embodiment of the present invention, a computer program product is provided, including a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method in each embodiment of the present invention is implemented.

[0020] According to another aspect of the embodiments of the present invention, a computer program is further provided. When the computer program is executed by a processor, the methods in the embodiments of the present invention are implemented.

[0021] In an embodiment of the present invention, the loading equipment continuously broadcasts positioning information at a fixed frequency, so that the mining equipment can perceive the position of the loading equipment in real time according to the positioning information of the loading equipment, and add the equipment information of the loading equipment in the target loading area to the loading equipment list. The loading equipment list can guide the mining equipment to load each loading equipment. When the loading equipment completes the loading and starts to leave the loading area, the list of equipment to be loaded can be automatically updated according to the positioning information of the loading equipment, and the equipment information of the equipment that has been loaded can be removed in time. This dynamic update mechanism ensures the real-time and effectiveness of the list of equipment to be loaded, provides clear operation guidance for the loading tasks of the mining equipment, and also provides a solid data basis for the accurate statistics of the loading performance of the mining equipment, thereby improving the accuracy of recording the operation data of the mining equipment and solving the technical problem that the operation data of the mining equipment cannot be accurately recorded in the related technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0023] Figure 1 is a flow chart of a method for processing operation data of a mining device according to an embodiment of the present invention;

[0024] Figure 2 is a schematic diagram of a target loading area of ​​a mining device according to an embodiment of the present invention;

[0025] Figure 3 is a schematic diagram of a V2X communication failure according to an embodiment of the present invention;

[0026] Figure 4 is a flow chart of a method for processing operation data of an excavator according to an embodiment of the present invention;

[0027] Figure 5 It is a schematic diagram of a device for processing operation data of a mining device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0028] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0029] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0030] Example 1

[0031] According to an embodiment of the present invention, a method embodiment for processing operating data of a mining device is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0032] Figure 1 A method for processing operation data of a mining device according to an embodiment of the present invention is applied to a mining device, such as Figure 1 As shown, the method comprises the following steps:

[0033] Step S101, receiving positioning information broadcast by a loading device at a fixed frequency.

[0034] In the technical solution provided in the above step S101 of the present application, the mining equipment may be an excavator in an open-pit mine transportation scenario, and the loading equipment may be a mining truck in an open-pit mine scenario. The mining equipment and the loading equipment may communicate with each other through V2X communication technology.

[0035] In this embodiment, after the loading equipment enters the open-pit mine transportation operation scene, it can continuously broadcast its own positioning information at a fixed frequency through V2X technology, where the positioning information includes at least its own position, direction and other data.

[0036] Optionally, since the loading equipment can continuously broadcast positioning information to the outside, even when the communication quality in the mine transportation scenario is unstable, it can be ensured that the mining equipment can continuously receive the positioning data of the loading equipment to track the position of the loading equipment.

[0037] Step S102: Determine the loading equipment in the target loading area based on the positioning information.

[0038] In the technical solution provided in the above step S102 of the present application, the target loading area is the operating area that the mining equipment can cover, that is, the effective operating area of ​​the mining equipment. The target loading area can be determined by the location of the mining equipment, the arm length of the mechanical arm of the mining equipment, and the rotation and stop range of the mechanical arm when the mining equipment performs the loading operation.

[0039] In this embodiment, after receiving the self-vehicle positioning information broadcast by the loading device, the mining device can update the position and orientation data of the mining truck in real time, and compare and analyze this information with the target loading area. If the position of the loading device falls within the target loading area of ​​the mining device, and its orientation meets the requirements of the loading operation, the loading device is confirmed as a loading device in the target loading area.

[0040] Optionally, the target loading area corresponding to the mining equipment is determined by calculating the direction range in which the rotating mechanism (such as the robotic arm and bucket) of the mining equipment continuously stays during the loading operation, combining the arm length parameters of the robotic arm and the position information of the mining equipment. Figure 2 is a schematic diagram of a target loading area of ​​a mining device according to an embodiment of the present invention, such as Figure 2 As shown, the fan-shaped area is the target loading area of ​​the mining equipment.

[0041] Optionally, as the operating state of the mining equipment changes, such as adjustment of the rotation angle, movement of the position, etc., the target loading area will also be dynamically updated accordingly to accurately reflect the real-time operating range of the mining equipment.

[0042] In this step, the mining equipment may receive the positioning information of multiple loading devices in the same loading area or adjacent loading areas. By comparing and analyzing the positioning information of the loading devices with the target loading area of ​​the mining equipment, the loading devices that are truly within the operating range of the mining equipment can be screened out, which is helpful for accurate loading operations and performance statistics.

[0043] Step S103: based on the positioning information, determine the target loading device to be loaded, and add the device information of the target loading device to the list of devices to be loaded.

[0044] In the technical solution provided in the above step S103 of the present application, the mining equipment determines the target loading equipment to be loaded by analyzing and comparing the position, orientation, and relative distance and angle between the loading equipment and the mining equipment based on the received positioning information.

[0045] In this embodiment, after determining the target loading equipment to be loaded, the equipment information of the target loading equipment can be added to the list of equipment to be loaded, wherein the list of equipment to be loaded includes the equipment information of multiple loading equipment located in the target loading area of ​​the mining equipment. Such equipment information includes, but is not limited to, equipment identifier (ID), real-time location, equipment status (in place to be loaded, loading, loading completed, etc.) and orientation information, etc., which are only illustrative examples and do not limit the specific content of the equipment information.

[0046] Step S104: when the target loading device completes loading and leaves the loading area, the device information of the target loading device is removed from the list of devices to be loaded according to the positioning information of the target loading device.

[0047] In the technical solution provided in the above step S104 of the present application, when the target loading equipment completes loading and starts to leave the loading area, the mining equipment will track the dynamic trajectory of the target loading equipment based on the received positioning information of the target loading equipment to determine whether the target loading equipment is indeed loaded by the mining equipment. If the target loading equipment is indeed loaded by the mining equipment, the equipment information of the target loading equipment will be removed from the list of equipment to be loaded.

[0048] In this embodiment, the equipment information of the target loading equipment is removed from the list of equipment to be loaded corresponding to the mining equipment, marking the end of the loading operation. The mining equipment can generate the loading data of the target loading equipment, and then record the loading data of the target loading equipment in the operation data of the mining equipment to ensure the complete record of each loading operation data.

[0049] In the above steps S101 to S104, the loading equipment continuously broadcasts positioning information at a fixed frequency, so that the mining equipment can perceive the position of the loading equipment in real time according to the positioning information of the loading equipment, and add the equipment information of the loading equipment in the target loading area to the loading equipment list. The loading equipment list can guide the mining equipment to load each loading equipment. When the loading equipment completes the loading and starts to leave the loading area, the list of equipment to be loaded can be automatically updated according to the positioning information of the loading equipment, and the equipment information of the equipment that has been loaded can be removed in time. This dynamic update mechanism ensures the real-time and effectiveness of the list of equipment to be loaded, provides clear operation guidance for the loading tasks of the mining equipment, and also provides a solid data basis for the accurate statistics of the loading performance of the mining equipment, thereby improving the accuracy of recording the operation data of the mining equipment and solving the technical problem that the operation data of the mining equipment cannot be accurately recorded in the related technology.

[0050] Next, the method for processing the operation data of the mining equipment is further introduced.

[0051] As an optional implementation, step S102, based on the positioning information, determines the target loading equipment to be loaded, including: based on the positioning information, determining the position information and orientation information of the loading equipment; in response to the position information indicating that the loading equipment is within the target loading area, and the orientation information indicating that the loading equipment is facing the loading direction of the mining equipment, determining the loading equipment as the target loading equipment to be loaded.

[0052] In this embodiment, the mining equipment will continuously receive and analyze the self-vehicle positioning information broadcast by the loading equipment, which includes the position coordinates and orientation angle of the loading equipment. The mining equipment can convert the position coordinates and orientation angle of the loading equipment into the specific position and orientation of the loading equipment in three-dimensional space.

[0053] Optionally, as described above, the target loading area is the operating range that the mining equipment can actually cover, calculated based on the arm length, rotation radius and current orientation of the mining equipment. By comparing the position information of the loading equipment with the target loading area, it can be determined whether the loading equipment is within the target loading area.

[0054] Optionally, if the position information of the loading device indicates that the loading device is in the target loading area, and the orientation information confirms that the loading device is facing the loading direction of the mining device, the loading device can be determined as the target loading device.

[0055] As an optional implementation, after the equipment information of the target loading equipment is added to the list of equipment to be loaded, the method for processing the operation data of the mining equipment also includes: determining the probability of waiting to be loaded corresponding to the loading equipment in the list of equipment to be loaded based on the positioning information of the loading equipment in the list of equipment to be loaded and the stop time of the loading equipment in the list of equipment to be loaded in the target loading area; and determining the loading order of the loading equipment in the list of equipment to be loaded based on the probability of waiting to be loaded corresponding to the loading equipment in the list of equipment to be loaded.

[0056] In this embodiment, after receiving the positioning information of the target loading equipment and adding it to the list of equipment to be loaded, the mining equipment will further calculate the probability of each loading equipment to be loaded included in the list of equipment to be loaded based on the positioning information of each loading equipment in the list of equipment to be loaded and the time when each loading equipment stops in the target loading area, wherein the probability of loading to be loaded is used to indicate the possibility of the corresponding loading equipment being loaded by the mining equipment.

[0057] For example, the mining equipment continuously monitors the positioning information of the loading equipment included in the list of equipment to be loaded. If a loading equipment is parked in the target loading area for a long time and its position coincides with the operating range of the mining equipment, the probability of the loading equipment to be loaded will increase accordingly.

[0058] Optionally, after determining the loading probability corresponding to each loading device in the list of equipment to be loaded, the mining equipment can automatically sort the loading devices in the list of equipment to be loaded and determine the loading order of each loading device in the list of equipment to be loaded. The loading order reflects the probability of each loading device being loaded, which helps the mining equipment to give priority to loading devices with a higher probability of being loaded, thereby optimizing the operation process and improving loading efficiency.

[0059] For example, when multiple loading equipment is located near mining equipment at the same time, the mining equipment can prioritize the loading equipment that is most likely to complete the loading based on the probability of the multiple loading equipment waiting to be loaded, thereby reducing unnecessary waiting and scheduling time, and at the same time alleviating to a certain extent the operational uncertainty caused by unstable V2X communication.

[0060] In this step, the mining equipment not only improves the automation level of loading operations through intelligent analysis and sorting, but also ensures that the loading equipment to be loaded can be accurately identified and processed even in the complex and changeable open-pit mining environment, thereby improving the safety and efficiency of the entire transportation operation.

[0061] As an optional implementation, based on the waiting-for-loading probabilities corresponding to the loading devices in the waiting-for-loading equipment list, the loading order of the loading devices in the waiting-for-loading equipment list is determined, including: sorting the waiting-for-loading probabilities corresponding to the loading devices in order from large to small to obtain a loading sequence; and loading the loading devices in the waiting-for-loading equipment list according to the loading sequence.

[0062] In this embodiment, after determining the loading probability corresponding to each loading device in the list of equipment to be loaded, the loading probability of each loading device can be sorted from large to small to generate a loading sequence. The loading sequence is a list of loading fleets sorted by loading probability, which provides a clear loading priority indication for the mining equipment. Among them, the loading device with the highest loading probability is loaded first to maximize the work efficiency and accuracy.

[0063] In this step, the mining equipment can quickly identify the loading equipment that is most likely to complete the loading based on the loading sequence, and give priority to the loading operation, effectively avoiding operational delays and reduced efficiency caused by incorrect loading equipment identification or improper loading sequence.

[0064] As an optional implementation, the method for processing the operation data of the mining equipment also includes: in response to a change in the positioning information of the loading equipment in the list of equipment to be loaded, adjusting the probability of loading for the loading equipment whose positioning information has changed; and updating the loading sequence based on the probability of loading for the loading equipment corresponding to the adjusted loading equipment.

[0065] In this embodiment, when the positioning information of the loading equipment in the list of equipment to be loaded changes, the mining equipment will re-evaluate and adjust the probability of the loading equipment to be loaded according to the updated positioning information of the loading equipment, and then automatically update the loading sequence according to the adjusted probability of loading, that is, rearrange the loading order of each loading equipment in the list of equipment to be loaded.

[0066] Optionally, the probability of the loading equipment being ready for loading can be adjusted in real time based on the positioning information of the loading equipment in the loading equipment list, which can ensure that the mining equipment always gives priority to the loading equipment with a higher probability of being ready for loading. Even when the operating conditions change, the loading operation process can be optimized, delays and waiting time can be reduced, and overall operating efficiency can be improved.

[0067] For example, in a scenario where multiple mining trucks are waiting to be loaded, if a mining truck is temporarily unsuitable for loading due to some reason (such as obstacles, temporary route changes, etc.), and another mining truck is ready, the sequence will be automatically adjusted to give priority to the ready mining truck.

[0068] In this step, this dynamic adjustment mechanism fully considers the uncertainty and complexity of on-site mine operations. Through real-time positioning information updates and intelligent analysis, it dynamically optimizes the loading operation process to ensure that even in the case of unstable V2X communication, terrain changes, fluctuations in the number of mining trucks, etc., the loading operation of the mining equipment can remain efficient and orderly, thereby improving the automation level and management efficiency of the entire open-pit mine transportation operation.

[0069] As an optional implementation, in the process of the target loading equipment completing loading and leaving the loading area, the equipment information of the target loading equipment is removed from the list of equipment to be loaded according to the positioning information of the target loading equipment, including: in the process of the target loading equipment completing loading and leaving the target loading area, based on the positioning information of the target loading equipment, determining the departure trajectory of the target loading equipment; based on the departure trajectory, determining that the target loading equipment is indeed loaded by the mining equipment, and removing the equipment information of the target loading equipment from the list of equipment to be loaded.

[0070] In this embodiment, when the target loading equipment completes loading and starts to leave the target loading area, the mining equipment will continue to receive the positioning information broadcast by the target loading equipment. Based on the positioning information, the mining equipment can determine the departure trajectory of the target loading equipment in the process of leaving the target loading area, and then by analyzing the departure trajectory, it is determined that the target loading equipment is indeed loaded by the mining equipment, and the equipment information of the target loading equipment is removed from the list to be loaded.

[0071] Optionally, the device information of the target loading device is removed from the list of devices to be loaded, marking the official end of the loading operation.

[0072] In this step, after confirming that the loading operation is completed, the equipment information of the target loading equipment is automatically removed from the list of equipment to be loaded, avoiding repeated scheduling of completed loading equipment, saving scheduling resources, and optimizing the job scheduling process.

[0073] As an optional implementation, determining whether the target loading equipment is indeed loaded by the mining equipment based on the departure trajectory includes: determining the departure position and departure direction of the target loading equipment based on the departure trajectory of the target loading equipment; in response to the departure position being within the target loading area and the departure direction pointing in the loading direction away from the mining equipment, determining that the target loading equipment is indeed loaded by the mining equipment.

[0074] In this step, when the target loading equipment leaves the target loading area after the loading operation is completed, the mining equipment can track the departure trajectory of the target loading equipment according to the positioning information of the target loading equipment, and record the position change and orientation data of the target loading equipment when it leaves.

[0075] For example, the mining equipment can check whether the departure position of the target loading equipment is located within the target loading area of ​​the mining equipment, and whether the departure direction points to the loading direction away from the mining equipment. If the departure position of the loading equipment is indeed located within the target loading area of ​​the mining equipment, and the departure direction of the target loading equipment points to the direction away from the mining equipment, it can be confirmed that the target loading equipment is loaded by the mining equipment. In this case, the loading data corresponding to the target loading equipment can be recorded in the operation data of the mining equipment.

[0076] In this step, the dynamic trajectory of the target loading equipment when it leaves the loading area can be used to intelligently determine whether the target loading equipment is indeed loaded by the mining equipment. Furthermore, in the case of unstable V2X communication, effective verification can be performed based on the dynamic trajectory of the loading equipment to ensure the accuracy of the loading records of the mining equipment, especially in complex scenarios with multiple excavators and multiple mining trucks. This can avoid confusion in loading operations and ensure that the loading performance of each loading equipment (mining truck) is accurately recorded, avoiding the complexity and possible errors of manual verification.

[0077] Furthermore, the confirmation mechanism based on the departure trajectory not only enhances the intelligence and robustness of operation data processing, but also improves the accuracy of loading performance statistics, providing solid technical support for the automation and intelligence of open-pit mine transportation operations, and ensuring automatic and accurate loading records under any circumstances.

[0078] As an optional implementation, the method for processing the operation data of the mining equipment further includes: generating the loading data of the target loading equipment in response to a triggering operation for generating the loading data of the target loading equipment; and adding the loading data to the operation data of the mining equipment.

[0079] In this embodiment, after determining that the target loading device is loaded by the mining device, if the generation trigger operation of the loading data of the target loading device is responded to, the loading data of the target loading device can be generated, and then the loading data of the target loading device is added to the operation data of the mining device to record the loading record of the mining device. The loading data includes but is not limited to the following information: loading timestamp, loading device ID, loading material type and volume, mining device ID, loading position coordinates, and other relevant parameters of the loading operation, etc. This is only an example, and does not limit the specific content of the loading data.

[0080] In this step, the generation and integration of loading data ensures accurate recording of loading data for each loading operation.

[0081] As an optional implementation, the method for processing the operation data of the mining equipment further includes: sending the operation data of the mining equipment to a cloud platform, and the operation data is used to enable the cloud platform to generate a workload report of the mining equipment.

[0082] In this embodiment, after the operation data of the mining equipment is generated, the operation data can be uploaded to the cloud platform. After receiving the operation data, the cloud platform will process and integrate it to generate a workload report of the mining equipment. The workload report records the operation status of the mining equipment in detail, including but not limited to loading records sorted by time, total loading, operation efficiency analysis, fault and abnormal situation reports, etc. This report provides real-time and comprehensive operation status feedback to mine managers, which is helpful for making decisions such as production scheduling, performance evaluation and equipment maintenance. This is only an illustrative example, and the specific content of the workload report is not limited.

[0083] In this step, by uploading the operation data to the cloud platform, the centralized management and analysis of the data can be achieved, overcoming the data collection difficulties caused by the complex on-site operation environment and unstable communication. The cloud platform's powerful data processing capabilities and storage facilities can ensure that even under harsh conditions at the operation site, accurate operation data can be collected and reliable workload reports can be generated, providing a data foundation for the automated management and optimization of open-pit mine transportation operations.

[0084] The technical solution of the embodiment of the present invention is illustrated below in conjunction with preferred implementation modes.

[0085] At present, in open-pit mine transportation operations, excavators are responsible for completing the mining and loading of materials such as earth, stone, and coal. The number of loadings is usually used as a work performance indicator for excavator drivers. With the large-scale implementation of autonomous driving transportation, excavators need to interact with mining trucks to start loading and leave after loading is completed. The autonomous driving system can complete the recording and statistics of the number of loadings based on data communication for loading coordination. However, due to the complex terrain of the mine site and its constant dynamic changes, the mobile network communication on site is often unable to guarantee the reliability of communication due to the limitations of base station deployment.

[0086] For example, Figure 3 is a schematic diagram of a V2X communication failure according to an embodiment of the present invention, such as Figure 3 As shown, when a communication failure occurs between the mining card and the excavator, the mining card and the excavator will not be able to transmit communication data.

[0087] In addition, since the excavator and the mining truck are generally located on a working surface with a large height difference, the V2V communication between the mining truck and the excavator is often blocked by factors such as terrain and excavator equipment, and the absolute reliability of communication cannot be guaranteed. In addition, since autonomous driving is affected by obstacles, vehicle failures, etc., there are multiple driving modes such as autonomous driving, manual driving, and remote control driving. Affected by the above factors, the loading system communication between the excavator and the mining truck cannot be guaranteed to be 100% reliable. Therefore, if the loading number statistics rely solely on the data communication process, it is impossible to guarantee the complete and accurate recording of the loading performance, and there is a technical problem that the loading performance of the excavator cannot be accurately recorded.

[0088] However, the embodiment of the present invention proposes a method for processing the operation data of an excavator. When an unmanned mining truck enters the loading area for operation, a vehicle message data packet containing basic data such as positioning is continuously broadcasted at a frequency of 1HZ through V2X, and the excavator terminal system receives the message packet through V2X to realize the perception of the surrounding mining trucks. Based on this continuous broadcast message, the excavator can still complete the perception of the loading position and vehicle orientation of the mining truck under unstable communication conditions during the loading process. The excavator terminal can infer whether the mining truck is the mining truck being loaded by the excavator based on the position and orientation of the unmanned mining truck, combined with its own position and orientation and other positioning information. At the same time, combined with the vehicle message during the process of the mining truck completing loading and leaving the loading position, the dynamic trajectory of the mining truck is calculated to finally confirm whether the mining truck has completed loading for the excavator. The excavator driver clicks on the loading completion through the excavator terminal, triggering the generation of the final loading record data and reporting it to the cloud platform, realizing reliable loading performance statistics, having better adaptability to the unstable communication environment in the mining area, ensuring the accuracy and reliability of loading performance statistics, and thus solving the technical problem of being unable to accurately record the loading performance of the excavator.

[0089] Next, a method for processing operation data of an excavator in an embodiment of the present invention is further introduced.

[0090] In this embodiment, in the open-pit mine transportation operation scenario, both unmanned mining trucks and manned mining trucks have the ability to send self-vehicle positioning information messages to the outside, and need to ensure continuous broadcasting and sending to the outside. When the mining truck enters the excavator loading operation area, in order to meet the excavator loading conditions, it is necessary to ensure the direction of the mining truck and the distance between the mining truck and the excavator.

[0091] Optionally, after receiving the self-vehicle positioning message broadcast by the mining truck, the excavator will add the mining truck to the mining truck list and update the mining truck status based on the latest message received. The mining truck status includes the location and orientation of the mining truck, and the parking time of the mining truck is calculated by the change of the positioning data, and it is inferred whether the mining truck has entered the loading position to wait for the excavator to load.

[0092] Optionally, during the rotation of the excavator, the current possible loading stop direction range can be inferred, and the loading area of ​​the excavator can be calculated in combination with the excavator arm length. When the loading area is updated, the probability of each mining truck in the mining truck list to be loaded is calculated to determine the mining truck actually loaded by the excavator.

[0093] Optionally, after the excavator completes loading, it will click "Loading Complete" on the terminal. After that, the mining truck will leave the loading area based on control instructions or manual driving. At this time, the mining truck positioning information will be updated and changed. The excavator terminal will calculate the trajectory of the mining truck based on the received positioning data, infer and update the above-mentioned probability of waiting for loading. Based on the inference process of the above stages, the loading record of the excavator can be accurately inferred.

[0094] Figure 4 is a flow chart of a method for processing operation data of an excavator according to an embodiment of the present invention. Figure 4 As shown, unmanned mining truck 1 and unmanned mining truck 2 can continuously broadcast their own positioning data at a frequency of 1Hz through V2X technology. After receiving the positioning data of unmanned mining truck 1 and unmanned mining truck 2, excavator 1 and excavator 2 can determine whether unmanned mining truck 1 and unmanned mining truck 2 have entered their own loading area. If so, the device information of the unmanned mining truck is added to the mining truck list. Figure 4 As shown, unmanned mining truck 1 and unmanned mining truck 2 enter the loading area of ​​excavator 1, and excavator 1 adds unmanned mining truck 1 and unmanned mining truck 2 to its corresponding mining truck list. Afterwards, when unmanned mining truck 1 is loaded and leaves the loading area of ​​excavator 1, excavator 1 can verify whether unmanned mining truck 1 is the mining truck that excavator 1 is actually in, and if so, unmanned mining truck 1 is deleted from the mining truck list corresponding to excavator 1.

[0095] According to an embodiment of the present invention, a device for processing operating data of a mining device is also provided. It should be noted that the device for processing operating data of a mining device can be used to execute the method for processing operating data of a mining device in an embodiment of the present invention.

[0096] Figure 5 Schematic diagram of a device for processing operation data of a mining device according to an embodiment of the present invention. The device 500 for processing operation data of a mining device comprises: a receiving unit 501 , a first determining unit 502 , a second determining unit 503 and a removing unit 504 .

[0097] The receiving unit 501 is used to receive the positioning information broadcast by the loading device at a fixed frequency.

[0098] The first determining unit 502 is used to determine the loading equipment in the target loading area based on the positioning information, wherein the target loading area is an operating area that can be covered by the mining equipment.

[0099] The second determining unit 503 is used to determine the target loading device to be loaded based on the positioning information, and add the device information of the target loading device to the list of devices to be loaded.

[0100] The removing unit 504 is used to remove the device information of the target loading device from the list of devices to be loaded according to the positioning information of the target loading device when the target loading device completes loading and leaves the loading area.

[0101] Optionally, the first determination unit 502 is also used to: determine the position information and orientation information of the loading equipment based on the positioning information; in response to the position information indicating that the loading equipment is within the target loading area, and the orientation information indicating that the loading equipment is facing the loading direction of the mining equipment, determine the loading equipment as the target loading equipment to be loaded.

[0102] Optionally, the processing device 500 of the operation data of the mining equipment is also used to: determine the waiting-for-loading probability corresponding to the loading equipment in the list of equipment to be loaded based on the positioning information of the loading equipment in the list of equipment to be loaded and the stop time of the loading equipment in the list of equipment to be loaded in the target loading area; determine the loading order of the loading equipment in the list of equipment to be loaded based on the waiting-for-loading probability corresponding to the loading equipment in the list of equipment to be loaded.

[0103] Optionally, the processing device 500 for the operation data of the mining equipment is further used to: sort the to-be-loaded probabilities corresponding to the loading equipment in order from large to small to obtain a loading sequence; and load the loading equipment in the to-be-loaded equipment list according to the loading sequence.

[0104] Optionally, the processing device 500 of the operation data of the mining equipment is also used to: in response to changes in the positioning information of the loading equipment in the list of equipment to be loaded, adjust the loading probability of the loading equipment whose positioning information has changed; and update the loading sequence based on the loading probability corresponding to the adjusted loading equipment.

[0105] Optionally, the removal unit 504 is also used to: determine the departure trajectory of the target loading equipment based on the positioning information of the target loading equipment when the target loading equipment completes loading and leaves the target loading area; based on the departure trajectory, determine that the target loading equipment is indeed loaded by the mining equipment, and remove the equipment information of the target loading equipment from the list of equipment to be loaded.

[0106] Optionally, the removal unit 504 is also used to: determine the departure position and departure direction of the target loading equipment based on the departure trajectory of the target loading equipment; in response to the departure position being within the target loading area and the departure direction pointing in the loading direction away from the mining equipment, determine that the target loading equipment is indeed loaded by the mining equipment.

[0107] Optionally, the processing device 500 for the operation data of the mining equipment is further used for: generating the loading data of the target loading equipment in response to a triggering operation for generating the loading data of the target loading equipment; and adding the loading data to the operation data of the mining equipment.

[0108] Optionally, the processing device 500 for the operation data of the mining equipment is further used to: send the operation data of the mining equipment to the cloud platform, and the operation data is used to enable the cloud platform to generate a workload report of the mining equipment.

[0109] In this embodiment, the loading equipment continuously broadcasts positioning information at a fixed frequency, so that the mining equipment can perceive the position of the loading equipment in real time according to the positioning information of the loading equipment, and add the equipment information of the loading equipment in the target loading area to the loading equipment list. The loading equipment list can guide the mining equipment to load each loading equipment. When the loading equipment completes loading and starts to leave the loading area, the list of equipment to be loaded can be automatically updated according to the positioning information of the loading equipment, and the equipment information of the equipment that has been loaded can be removed in time. This dynamic update mechanism ensures the real-time and effectiveness of the list of equipment to be loaded, provides clear operation guidance for the loading tasks of the mining equipment, and also provides a solid data basis for the accurate statistics of the loading performance of the mining equipment, thereby improving the accuracy of recording the operation data of the mining equipment and solving the technical problem that the operation data of the mining equipment cannot be accurately recorded in the related technology.

[0110] An embodiment of the present application further provides an electronic device, comprising: a memory storing an executable program; and a processor for running the program, wherein the program executes the methods in various embodiments of the present invention when running.

[0111] An embodiment of the present application further provides a computer-readable storage medium, which includes a stored executable program, wherein when the executable program is running, the device where the computer-readable storage medium is located is controlled to execute the methods in various embodiments of the present invention.

[0112] An embodiment of the present application further provides a computer program product, including a computer program, which implements the methods in various embodiments of the present invention when executed by a processor.

[0113] An embodiment of the present application further provides a computer program product, including a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium is used to store a computer program, and when the computer program is executed by a processor, the method in each embodiment of the present invention is implemented.

[0114] The embodiments of the present application further provide a computer program, which implements the methods in the above-mentioned embodiments of the present invention when executed by a processor.

[0115] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0116] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0117] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0118] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0119] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0120] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0121] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for processing operation data of mining equipment, applied to mining equipment, characterized in that: include: Receive positioning information broadcast by the loading equipment at a fixed frequency; Based on the positioning information, determining the loading equipment in the target loading area, wherein the target loading area is the operating area that can be covered by the mining equipment; Based on the positioning information, determine the target loading device to be loaded, and add the device information of the target loading device to the list of devices to be loaded; When the target loading device completes loading and leaves the loading area, the device information of the target loading device is removed from the list of devices to be loaded according to the positioning information of the target loading device.

2. The method according to claim 1, characterized in that Based on the positioning information, determining the target loading device to be loaded includes: Based on the positioning information, determining the position information and orientation information of the loading device; In response to the position information indicating that the loading device is within the target loading area, and the orientation information indicating that the loading device is facing the loading direction of the mining device, the loading device is determined as the target loading device to be loaded.

3. The method according to claim 1, characterized in that After adding the device information of the target loading device to the list of devices to be loaded, the method further includes: Determine the loading probability corresponding to the loading equipment in the list of equipment to be loaded based on the positioning information of the loading equipment in the list of equipment to be loaded and the parking time of the loading equipment in the list of equipment to be loaded in the target loading area; The loading order of the loading devices in the list of equipment to be loaded is determined based on the to-be-loaded probabilities corresponding to the loading devices in the list of equipment to be loaded.

4. The method according to claim 3, characterized in that Determining a loading order of the loading devices in the list of equipment to be loaded based on the to-be-loaded probabilities corresponding to the loading devices in the list of equipment to be loaded includes: Sorting the loading probabilities corresponding to the loading devices in descending order to obtain a loading sequence; According to the loading sequence, the loading devices in the list of devices to be loaded are loaded.

5. The method according to claim 4, characterized in that The method further comprises: In response to a change in the positioning information of a loading device in the list of devices to be loaded, adjusting the probability of loading of the loading device with the changed positioning information; The loading sequence is updated based on the adjusted waiting-to-be-loaded probabilities corresponding to the loading devices.

6. The method according to claim 1, characterized in that In the process that the target loading device completes loading and leaves the loading area, the device information of the target loading device is removed from the list of devices to be loaded according to the positioning information of the target loading device, including: In the process of the target loading device completing loading and leaving the target loading area, determining a departure trajectory of the target loading device based on the positioning information of the target loading device; Based on the departure trajectory, it is determined that the target loading equipment is indeed loaded by the mining equipment, and the equipment information of the target loading equipment is removed from the list of equipment to be loaded.

7. The method according to claim 6, characterized in that Determining, based on the departure trajectory, that the target loading equipment is indeed loaded by the mining equipment comprises: Determining a departure position and a departure direction of the target loading equipment based on the departure trajectory of the target loading equipment; In response to the departure position being within the target loading area and the departure direction pointing to a loading direction away from the mining equipment, it is determined that the target loading equipment is loaded by the mining equipment.

8. The method according to claim 1, characterized in that The method further comprises: In response to a triggering operation for generating the loading data of the target loading device, generating the loading data of the target loading device; The loading data is added to the operating data of the mining equipment.

9. The method according to any one of claims 1 to 8, characterized in that The method further comprises: The operation data of the mining equipment is sent to a cloud platform, and the operation data is used to enable the cloud platform to generate a workload report for the mining equipment.

10. A device for processing operation data of mining equipment, applied to mining equipment, characterized in that: include: A receiving unit, used to receive positioning information broadcast by the loading equipment at a fixed frequency; A first determining unit, configured to determine a loading device in a target loading area based on the positioning information, wherein the target loading area is an operating area that can be covered by the mining equipment; A second determining unit, configured to determine a target loading device to be loaded based on the positioning information, and add device information of the target loading device to a list of devices to be loaded; The removing unit is used to remove the device information of the target loading device from the list of devices to be loaded according to the positioning information of the target loading device when the target loading device completes loading and leaves the loading area.

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